3-D Map Merging on Pose Graphs

  title={3-D Map Merging on Pose Graphs},
  author={Taigo Maria Bonanni and Bartolomeo Della Corte and Giorgio Grisetti},
  journal={IEEE Robotics and Automation Letters},
In this letter, we propose an approach for merging three-dimensional maps represented as pose graphs of point clouds. Our method can effectively deal with typical distortions affecting simultaneous localization and mapping-generated maps. Traditional map merging techniques that use a single rigid body transformation to relate the reference frames of different maps. Instead, our approach achieves more accurate results by eliminating the inconsistencies resulting from distortions affecting the… CONTINUE READING
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